CN110254710B - Two-stage displacement hybrid wing water-air amphibious unmanned aerial vehicle - Google Patents
Two-stage displacement hybrid wing water-air amphibious unmanned aerial vehicle Download PDFInfo
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- CN110254710B CN110254710B CN201910424394.6A CN201910424394A CN110254710B CN 110254710 B CN110254710 B CN 110254710B CN 201910424394 A CN201910424394 A CN 201910424394A CN 110254710 B CN110254710 B CN 110254710B
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- fixed wing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
- B64C35/008—Amphibious sea planes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
Abstract
The invention discloses a two-stage displacement hybrid wing water-air amphibious unmanned aerial vehicle which comprises a vehicle body, a vehicle body shell and an undercarriage, wherein the undercarriage is erected at the bottom of the vehicle body shell in a lifting mode, two embedded ducts communicated with the interior of the vehicle body shell are arranged on the upper surface of the vehicle body shell, a first propeller is arranged in each embedded duct, two sides of the vehicle body shell are respectively provided with a recovery cavity communicated with the interior of the vehicle body shell, a rotatable fixed wing is arranged in each recovery cavity, one end, far away from the vehicle body shell, of each fixed wing is provided with a rotatable fixed wing duct, each fixed wing duct is of a cylindrical structure, and a second propeller is arranged in each fixed wing duct. The invention aims to provide a two-stage displacement hybrid wing water-air amphibious unmanned aerial vehicle, which can improve the stability of the unmanned aerial vehicle in different flight environments and in the process of switching flight environments, so that the applicability of the water-air amphibious unmanned aerial vehicle is improved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a two-stage displacement hybrid wing water-air amphibious unmanned aerial vehicle.
Background
As a multipurpose unmanned aerial vehicle, the demand of the water-air amphibious unmanned aerial vehicle will increase day by day.
The water-air amphibious unmanned aerial vehicle not only can realize the functions of the existing unmanned aerial vehicle, but also can enter water to perform special operation. Therefore, the method has great development space in the fields of marine rescue, marine environment survey, marine organism tracking, entertainment, military and the like.
The technical key of the water-air amphibious aircraft is to finish air and underwater movement and simultaneously stably switch between water and air. In the water-air amphibious unmanned aerial vehicle that has appeared at present, lack the analysis to unmanned aerial vehicle at different flight environment, can not accomplish stable flight in two kinds of flight environment at water, sky to lead to the flight inefficiency, flight stability is poor, and the flexibility is poor, has influenced water-air amphibious unmanned aerial vehicle's application possibility.
Disclosure of Invention
According to the defects of the prior art, the invention aims to provide a two-stage displacement hybrid wing water-air amphibious unmanned aerial vehicle, which can improve the stability of the unmanned aerial vehicle in different flight environments and in the process of switching flight environments, so that the applicability of the water-air amphibious unmanned aerial vehicle is improved.
In order to solve the technical problems, the invention adopts the technical scheme that:
the utility model provides a hybrid wing water-air amphibious unmanned aerial vehicle that two-stage shifted, includes organism, engine body shell and undercarriage, the undercarriage is established engine body shell's bottom, the engine body shell upper surface is equipped with two embedded ducts that link up with engine body shell inside, each be equipped with a first screw in the embedded duct, the engine body shell both sides are equipped with respectively and retrieve the chamber with the inside intercommunication of engine body shell, each retrieve the intracavity and be equipped with a rotatable stationary vane, the stationary vane duct is tubular structure, each the stationary vane is kept away from engine body shell's one end all is equipped with rotatable stationary vane duct, each be equipped with a second screw in the stationary vane duct.
Furthermore, a fixed wing rotating mechanism for driving the fixed wing to rotate is arranged in the machine body shell and comprises a motor, a first bevel gear and a second bevel gear, the first bevel gear is connected to a rotating shaft of the motor, the second bevel gear is meshed with the first bevel gear, a worm is connected to a rotating shaft of the second bevel gear, and a worm wheel meshed with the worm is arranged at one end, close to the end embedded in the machine body shell, of the fixed wing.
Further, the motor is a double-head motor.
Furthermore, each fixed wing is kept away from engine body shell's one end all is equipped with the drive fixed wing duct rotary mechanism of fixed wing duct rotation, fixed wing duct rotary mechanism includes first steering wheel and second steering wheel, the pivot of first steering wheel with the shell fixed connection of fixed wing duct, first steering wheel drive fixed wing duct rotates the axis level or vertical that makes the fixed wing duct, the pivot of second steering wheel with the shell fixed connection of first steering wheel and with the pivot of first steering wheel is perpendicular, second steering wheel drive first steering wheel with fixed wing duct is at the horizontal plane internal rotation.
Further, the first propeller is a two-blade propeller.
Further, the second propeller is a six-blade propeller.
Further, the recycling cavity is arc-shaped.
Furthermore, the machine body shell is also provided with an empennage which extends upwards.
Further, the body housing is configured in a streamlined configuration.
Further, the machine body shell comprises an upper machine shell and a lower machine shell, and the upper machine shell is connected with the lower machine shell through bolts.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the invention relates to a two-stage displacement hybrid wing water-air amphibious unmanned aerial vehicle, which is characterized in that a unique external duct and a unique fixed wing duct are designed, the fixed wing duct is arranged on wings of the unmanned aerial vehicle, six-blade propellers are adopted to mainly provide power underwater and horizontal thrust, an embedded duct is arranged inside a body shell, two-blade propellers are adopted to mainly provide power in the air and vertical lift, and the flight efficiency and flight stability of the water-air amphibious unmanned aerial vehicle in different flight environments are ensured.
2. The invention relates to a two-stage deflection hybrid wing water-air amphibious unmanned aerial vehicle. Wherein double-end motor among the fixed wing rotary mechanism drives the fixed wing and takes place to rotate, and first steering wheel and second steering wheel among the fixed wing duct rotary mechanism drive the fixed wing duct and rotate in vertical plane and in the horizontal rotation, change the flight mode of this device, help has improved the stability of this device flight under different states.
3. According to the two-stage displacement hybrid wing water-air amphibious unmanned aerial vehicle, the body shell is designed into a streamline shape, the hydrodynamic force is met, the moving resistance of the unmanned aerial vehicle flying underwater is reduced, and the flying efficiency is improved.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a fixed wing rotary mechanism of the present invention;
FIG. 3 is a schematic view of a fixed wing duct rotary mechanism of the present invention;
FIG. 4 is a state diagram of the present invention during takeoff;
fig. 5 is a state diagram of the present invention in underwater motion.
Wherein: 1. a fixed-wing duct; 2. a second propeller; 3. a fixed wing duct rotating mechanism; 4. a fixed wing; 5. embedding a duct; 6. a first propeller; 7. a landing gear; 8. a fixed wing rotating mechanism; 9. a recovery chamber; 10. a tail wing; 11. a machine body shell; 12. a second bevel gear; 13. a first bevel gear; 14. a motor; 15. a worm; 16. a worm gear; 17. a first steering engine; 18. and a second steering engine.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings, which are merely for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be construed as limiting the invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the invention, the meaning of "a plurality" is two or more unless otherwise specified.
Referring to fig. 1-5, the two-stage deflection hybrid wing water-air amphibious unmanned aerial vehicle comprises a body, a body shell 11 and an undercarriage 7. The landing gear 7 is provided at the bottom of the body casing 11. Two embedded ducts 5 which are communicated with the interior of the engine body shell 11 are arranged in front of and behind the upper surface of the engine body shell 11, and a first propeller 6 is arranged in each embedded duct 5. 11 both sides of engine body shell are equipped with respectively and retrieve chamber 9 with 11 inside link up of engine body shell, it is the arc to retrieve chamber 9, each is retrieved and is equipped with a rotatable stationary vane 4 in the chamber 9, stationary vane 4 establishes between two embedded ducts 5, the one end that engine body shell 11 was kept away from to each stationary vane 4 all is equipped with rotatable stationary vane duct 1, stationary vane duct 1 is the tubular structure, be equipped with a second screw 2 in each stationary vane duct 1. One end of the rotatable fixed wing 4 is arranged in the recovery cavity 9, when the device moves underwater, the rotatable fixed wing 4 can be recovered in the recovery cavity 9, and the resistance of the device to move underwater is reduced. The one end that organism shell 11 was kept away from to stationary vane 4 is equipped with rotatable stationary vane duct 1, when this device takes off, the axis that stationary vane duct 1 rotated to stationary vane duct 1 is vertical, for this device provides vertical ascending lift, fly aloft and when the aquatic motion when this device, the axis level of stationary vane duct 1 rotation to stationary vane duct 1 makes second screw 2 in the stationary vane duct 1 provide horizontal thrust for this device, and the difference in rotation speed of two second screws 2 of accessible helps this device to carry out yawing motion, change the course.
Referring to fig. 2, a fixed wing rotating mechanism 8 for driving the fixed wing 4 to rotate is arranged in the body housing 11, the fixed wing rotating mechanism 8 includes a motor 14, a first bevel gear 13 and a second bevel gear 12, the first bevel gear 13 is connected to a rotating shaft of the motor 14, the second bevel gear 12 is engaged with the first bevel gear 13, a worm 15 is connected to a rotating shaft of the second bevel gear 12, and a worm wheel 16 engaged with the worm 15 is arranged at one end of the fixed wing near to the end embedded in the body housing 11.
In order to make the two fixed wings 4 on the two sides of the body shell 11 rotate simultaneously, the motor 14 is a double-head motor, and the double-head motor is arranged, so that the stability of the device in the movement process can be improved. In the movement process of the device, the double-head motor simultaneously drives the two first bevel gears 13 to rotate, and then simultaneously drives the two second bevel gears 12 to rotate, so that the two worms 15 simultaneously rotate, the worm wheel 16 meshed with the worm 15 is arranged at one end, close to the end embedded in the machine shell 11, of the fixed wing 4, and the two fixed wings 4 rotate.
Referring to fig. 3, one end of each fixed wing 4, which is far away from the body shell 11, is provided with a fixed wing duct rotating mechanism 3 which drives the fixed wing duct 1 to rotate, the fixed wing duct rotating mechanism 3 comprises a first steering engine 17 and a second steering engine 18, a rotating shaft of the first steering engine 17 is fixedly connected with a shell of the fixed wing duct 1, the first steering engine 17 drives the fixed wing duct 1 to rotate so that the axis of the fixed wing duct 1 is horizontal or vertical, a rotating shaft of the second steering engine 18 is fixedly connected with the shell of the first steering engine 17, and the second steering engine 18 drives the first steering engine 17 and the fixed wing duct 1 to rotate in the horizontal plane. The rotating shaft of the second steering engine 18 is perpendicular to the rotating shaft of the first steering engine 17, and when the fixed wings 4 are retracted or opened, the second steering engine 18 rotates to control the fixed wing duct 1 to be always kept in a forward state, namely, the axis of the fixed wing duct 1 is always parallel to the forward direction of the device.
Referring to figures 1, 4 and 5, since two-bladed propellers are used on propeller-type aircraft in general, since they provide lift mainly in the air, if the aircraft blades are too dense, the amount of backward air flow is small, and in order to accelerate the thrust of the backward air flow against the aircraft and increase the space between the propellers of the aircraft, the first propeller 6 is a two-bladed propeller.
Referring to fig. 1, 4 and 5, the density of water is 800 times that of air, and the second propeller 2 is provided as a six-bladed propeller which is mainly powered underwater. The reaction force of the six-blade propeller on the underwater machine is larger, so that a too large propeller is not needed, and if the too large six-blade propeller is used, the outer edge of the six-blade propeller blade does ineffective work.
Referring to fig. 1, 4 and 5, in order to further improve the stability of the flight of the device, a tail wing 10 protruding upwards is further provided on the body shell 11.
Referring to fig. 1, 4 and 5, in order to further reduce the resistance of the device to movement in water, the body housing 11 is provided in a streamlined structure.
In order to facilitate the assembly and disassembly, the housing 11 includes an upper housing and a lower housing, and the upper housing and the lower housing are connected by bolts.
The motion process of the invention is as follows: referring to fig. 4, in the taking-off process of the device, the axis of the fixed wing duct 1 of the device is vertical, and the device is driven to take off by the rotation of the two first propellers 6 and the two second propellers 2, so that the in-situ taking-off action can be realized.
Referring to fig. 1, in the state of the device during air flight, the fixed-wing duct rotating mechanism 3 drives the fixed-wing duct 1 to rotate to the axis level of the fixed-wing duct 1 through the first steering engine 17, the first propeller 6 in the embedded duct 5 mainly provides longitudinal lift, the second propeller 2 in the fixed-wing duct 1 mainly provides horizontal thrust, and in the air flight process, yaw motion can be performed through the rotation speed difference of the two second propellers 2 to change the course.
Go into the aquatic in-process, fixed wing duct rotary mechanism 3 drives fixed wing duct 1 through first steering wheel 17 and rotates to fixed wing duct 1's axis vertical, because wing ground effect, if two first screws 6 and two second screws 2 speed are too big, this device drifts easily, can not lead to this device to go into water, consequently through the rotational speed that reduces two first screws 6 and two second screws 2 simultaneously, go into water through the dead weight of this device almost, can make this device slowly get into the aquatic. Meanwhile, in the process, the fixed wing rotating mechanism 8 retracts the fixed wing 4 to the recovery cavity 9, so that the underwater movement resistance of the device is reduced. After entering water, the fixed wing duct rotating mechanism 3 drives the fixed wing duct 1 to rotate to the axis level of the fixed wing duct 1 through the first steering engine 17, and meanwhile, the state of the fixed wing duct 1 is dynamically adjusted through the second steering engine 18, so that the fixed wing duct 1 rotates in the horizontal plane, the fixed wing duct 1 is enabled to be always in a forward state, and the axis of the fixed wing duct 1 is always parallel to the forward direction of the device. Referring to fig. 1, the device is shown in a state when moving underwater. When moving in water, the second propeller 2 in the fixed wing duct 1 provides power for horizontal movement in water, and the first propeller 6 in the embedded duct 5 provides power in the vertical direction.
In the water outlet process, the fixed wing rotating mechanism 8 opens the fixed wings from the recovery cavity 9, and the state of the fixed wing duct 1 is dynamically adjusted through the second steering engine 18, so that the fixed wing duct 1 rotates in the horizontal plane, the fixed wing duct 1 is always in a forward state, and the axis of the fixed wing duct 1 is always parallel to the forward direction of the device. After the fixed wing 4 is completely opened, the fixed wing duct 1 is driven to rotate to the vertical axis of the fixed wing duct 1 through the first steering engine 17, and the device is driven to leave the water surface through the rotating speeds of the two first propellers 6 and the two second propellers 2 which are simultaneously improved.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (8)
1. A two-stage displacement hybrid wing water-air amphibious unmanned aerial vehicle is characterized in that: the aircraft comprises an aircraft body, an aircraft body shell and an undercarriage, wherein the undercarriage is arranged at the bottom of the aircraft body shell, the aircraft body shell is arranged in a streamline structure, two embedded ducts which are communicated with the interior of the aircraft body shell are arranged on the upper surface of the aircraft body shell, a first propeller is arranged in each embedded duct, recovery cavities which are communicated with the interior of the aircraft body shell are respectively arranged on two sides of the aircraft body shell, a rotatable fixed wing is arranged in each recovery cavity, a fixed wing rotating mechanism for driving the fixed wing to rotate is arranged in the aircraft body shell, a rotatable fixed wing duct is arranged at one end, far away from the aircraft body shell, of each fixed wing, the fixed wing duct is of a barrel-shaped structure, a second propeller is arranged in each fixed wing duct, a fixed wing duct rotating mechanism for driving the fixed wing duct to rotate is arranged at one end, far away from the aircraft body shell, of each fixed wing, and comprises a first steering engine and a second steering engine, the rotating shaft of the first steering engine is fixedly connected with the shell of the fixed wing duct, the first steering engine drives the fixed wing duct to rotate so that the axis of the fixed wing duct is horizontal or vertical, the rotating shaft of the second steering engine is fixedly connected with the shell of the first steering engine and the first steering engine, and the second steering engine drives the second steering engine to rotate in the horizontal plane;
when flying in the air, the fixed-wing duct rotating mechanism drives the fixed-wing duct to rotate to the axis level of the fixed-wing duct through the first steering engine, the first propeller in the embedded duct mainly provides longitudinal lift, the second propeller in the fixed-wing duct mainly provides horizontal thrust, and yaw motion is carried out through the rotation speed difference of the two second propellers to change the course;
in the water inlet process, the fixed wing duct rotating mechanism drives the fixed wing duct to rotate through the first steering engine until the axis of the fixed wing duct is vertical, and the fixed wing rotating mechanism retracts the fixed wing to the recovery cavity through the self-weight of the unmanned aerial vehicle by reducing the rotating speeds of the two first propellers and the two second propellers simultaneously and entering water;
after entering water, the fixed wing duct rotating mechanism drives the fixed wing duct to rotate to the axis level of the fixed wing duct through the first steering engine, and the state of the fixed wing duct is dynamically adjusted through the second steering engine, so that the fixed wing duct rotates in the horizontal plane, and the fixed wing duct always keeps a forward state;
in the water outlet process, the fixed wing rotating mechanism enables the fixed wings to be opened from the recovery cavity, the state of the fixed wing duct is dynamically adjusted through the second steering engine, the fixed wing duct rotates in the horizontal plane, the fixed wing duct is enabled to be in a forward state all the time, after the fixed wings are completely opened, the fixed wings drive the fixed wing duct to rotate to the fixed wing duct, the axis of the fixed wing duct is vertical, and the unmanned aerial vehicle is driven to leave the water surface by simultaneously increasing the rotating speeds of the first propeller and the second propeller.
2. The two-stage deflection hybrid wing water-air amphibious unmanned aerial vehicle of claim 1, wherein: the fixed wing rotating mechanism comprises a motor, a first bevel gear and a second bevel gear, the first bevel gear is connected to a rotating shaft of the motor, the second bevel gear is meshed with the first bevel gear, a worm is connected to a rotating shaft of the second bevel gear, and a worm wheel meshed with the worm is arranged at one end, close to the end embedded in the machine body shell, of the fixed wing.
3. The two-stage hybrid wing water-air amphibious unmanned aerial vehicle of claim 2, wherein: the motor is a double-head motor.
4. The two-stage deflection hybrid wing water-air amphibious unmanned aerial vehicle of claim 1, wherein: the first propeller is a two-blade propeller.
5. The two-stage deflection hybrid wing water-air amphibious unmanned aerial vehicle of claim 1, wherein: the second propeller is a six-blade propeller.
6. The two-stage hybrid wing water-air amphibious drone of any one of claims 1 to 5, characterized in that: the recovery cavity is arc-shaped.
7. The two-stage hybrid wing water-air amphibious drone of any one of claims 1 to 5, characterized in that: the machine body shell is also provided with an empennage extending upwards.
8. A two-stage indexed hybrid wing water-air amphibious unmanned aerial vehicle according to any of claims 1-5, wherein: the machine body shell comprises an upper machine shell and a lower machine shell, and the upper machine shell is connected with the lower machine shell through a bolt.
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| NL1042265B1 (en) * | 2017-02-13 | 2018-09-04 | Pal V Ip B V | Fly/drive vehicle that is convertible between a road riding condition and a flying condition |
| CN111292602B (en) * | 2020-03-23 | 2022-03-04 | 陶桂来 | Model and method for flying or diving the model |
| CN112319161A (en) * | 2020-08-31 | 2021-02-05 | 南京航空航天大学 | Rotor unmanned aerial vehicle capable of sailing underwater at high speed and control method thereof |
| CN112339514A (en) * | 2020-10-14 | 2021-02-09 | 武汉理工大学 | Water-air amphibious wing-changing type unmanned aerial vehicle |
| CN112429215A (en) * | 2020-11-26 | 2021-03-02 | 广东国士健科技发展有限公司 | Simple string type half-rotation flapping type self-rotating rotor wing device |
| CN114235025B (en) * | 2021-11-23 | 2023-07-18 | 佛山市川东磁电股份有限公司 | Building health state monitoring system |
| CN115320843B (en) * | 2022-09-02 | 2023-07-14 | 中南大学 | Water-air double-power tilting rotor wing medium-crossing unmanned aerial vehicle |
| CN117103919A (en) * | 2023-10-16 | 2023-11-24 | 广东工业大学 | Water-air amphibious catamaran and control method thereof |
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| US6848649B2 (en) * | 2000-10-03 | 2005-02-01 | Charles Gilpin Churchman | V/STOL biplane aircraft |
| CN101961974B (en) * | 2010-09-15 | 2012-05-30 | 北京理工大学 | Land, water and air multi-domain engine-driven carriage vehicle |
| SK6347Y1 (en) * | 2011-08-30 | 2013-01-02 | Aeromobil Sro | Method of transformation of hybrid vehicles for land and air and hybrid vehicle |
| US20150274289A1 (en) * | 2014-03-31 | 2015-10-01 | The Boeing Corporation | Vertically landing aircraft |
| KR101529856B1 (en) * | 2015-03-20 | 2015-06-17 | 양연철 | Flight vehicle having flying function of helicopter |
| US10676187B2 (en) * | 2017-03-07 | 2020-06-09 | The Boeing Company | Robust amphibious aircraft |
| CN107933914B (en) * | 2017-11-08 | 2020-11-10 | 上海交通大学 | Water-air amphibious sightseeing electric rotor aircraft |
| CN108715118A (en) * | 2018-06-15 | 2018-10-30 | 中宇航通（北京）科技有限公司 | A kind of hovercar tandem double-vane extension and retraction system and hovercar |
| CN109353500A (en) * | 2018-11-08 | 2019-02-19 | 南京航空航天大学 | A kind of aircraft of dwelling installing hydrofoil additional more |
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